4.8.2.8. NODAL_FORCE
This subroutine defines a user - defined nodal force. Although it should be applied to nodes, it can also be used for a sheet group in MTT2D. The outputted data is here.
Language type |
Subroutine |
FORTRAN |
nodal_force (ID,TIME,UPAR,NPAR,POS,VEL,JFLAG,IFLAG,RESULT) |
C/C++ |
nodal_force (int id, double time, double upar[], int npar, double pos[12], double vel[6], int jflag, int iflag, double result[6]) |
Variable Name |
Size |
Description |
id |
int |
Nodal Force sequential identification |
time |
double |
Current simulation time of RecurDyn/Solver. |
upar |
double* |
Parameters defined by the user. There is no limit about the maximum size of array. |
npar |
int |
Number of user parameters. |
pos |
double[12] |
Nodal Position and Orientation matrix with respect to Inertia Reference Frame. |
vel |
double[6] |
Nodal Velocity and rotational nodal velocity with respect to Inertia Reference Frame. |
jflag |
int |
When RecurDyn/Solver evaluates Jacobian, the flag is true. Otherwise, the flag is false. |
iflag |
int |
When RecurDyn/Solver makes its initial call to this routine, the flag is true. Otherwise, the flag is false |
result |
double[6] |
Returned nodal force. |
Example
This subroutine returns forces like bushing force.
Figure 4.112 Bushing force model
Note
If the user wants to run this model using a user subroutine, the user can refer it in the directory (<install dir>\Help\usub\**).
If nodal force is applied both FFlex body and MTT3D sheet, nodal force id is able to same in user subroutine.
C---- SUB. NODAL_FORCE
SUBROUTINE NODAL_FORCE
& (ID,TIME,UPAR,NPAR,POS,VEL,JFLAG,IFLAG,RESULT)
C---- TO EXPORT * SUBROUTINE
!DEC$ ATTRIBUTES DLLEXPORT,C::NODAL_FORCE
C---- INCLUDE SYSTEM CALL
INCLUDE 'SYSCAL.F'
C---- DEFINE VARIABLES
C Parameter Information
C ID : Nodal Force sequential identification. (Input)
C TIME : Simulation time of RD/Solver. (Input)
C UPAR : Parameters defined by user. (Input)
C NPAR : Number of user parameters. (Input)
C POS : Nodal position w.r.t. Inertia REF. (Input)
C VEL : Nodal velocity w.r.t. Inertia REF. (Input)
C JFLAG : When RD/Solver evaluates a Jacobian, the flag is true. (Input)
C IFLAG : When RD/Solver initializes array, the flag is true. (Input)
C RESULT : Returned nodal force vector. (Input, Size : 6)
DOUBLE PRECISION TIME, UPAR(*),POS(12),VEL(6)
INTEGER ID, NPAR
LOGICAL JFLAG, IFLAG
DOUBLE PRECISION RESULT[REFERENCE](6)
C---- USER STATEMENT
INTEGER ActionMarker, BaseMarker
INTEGER ifTXActive, ifTYActive, ifTZActive
INTEGER ifRXActive, ifRYActive, ifRZActive
INTEGER nfid, ifbody, nodeseq, nodeid
INTEGER mkid(3), i, err
LOGICAL errflg
DOUBLE PRECISION TK, TC, RK, RC
DOUBLE PRECISION djip(3), vjip(3)
DOUBLE PRECISION Phijip(3), wjip(3), fp(6)
DOUBLE PRECISION A(9), ea313(3)
DOUBLE PRECISION PI
CHARACTER msg*256
PI=dacos(-1.0d0)
IF (NPAR .LT. 6) THEN
CALL ERRMES(1000,'Number of the input parameter must be 6'
& , ID, 'NodalForceUSUB')
GOTO 10
ENDIF
ActionMarker = UPAR(1)
BaseMarker = UPAR(2)
TK = UPAR(3)
TC = UPAR(4)
RK = UPAR(5)
RC = UPAR(6)
IF (NPAR .LT. 12) THEN
ifTXActive = 1
ifTYActive = 1
ifTZActive = 1
ifRXActive = 1
ifRYActive = 1
ifRZActive = 0
ELSE
ifTXActive = UPAR(7)
ifTYActive = UPAR(8)
ifTZActive = UPAR(9)
ifRXActive = UPAR(10)
ifRYActive = UPAR(11)
ifRZActive = UPAR(12)
ENDIF
nfid = 0;
ifbody = 0;
nodeseq = 0;
nodeid = 0;
err = 0;
errflg = 0;
CALL GET_NFORCE_ADDARG(nfid,ifbody,nodeseq,nodeid,err)
IF(IFLAG) THEN
WRITE(msg,*) 'Nodal Force Seq = ', nfid
CALL PRINTMSG(msg//char(0), len(trim(msg)))
WRITE(msg,*) 'FFlex Body Seq = ', ifbody
CALL PRINTMSG(msg//char(0), len(trim(msg)))
WRITE(msg,*) 'Current Node Seq = ', nodeseq
CALL PRINTMSG(msg//char(0), len(trim(msg)))
WRITE(msg,*) 'Current Node ID = ', nodeid
CALL PRINTMSG(msg//char(0), len(trim(msg)))
ENDIF
mkid(1) = ActionMarker
mkid(2) = BaseMarker
mkid(3) = ActionMarker
CALL SYSARY('TDISP', mkid, 3, djip, 3, errflg)
CALL SYSARY('TVEL', mkid, 3, vjip, 3, errflg)
CALL SYSARY('RVEL', mkid, 3, wjip, 3, errflg)
mkid(1) = BaseMarker
mkid(2) = ActionMarker
CALL SYSFNC('ROLL', mkid, 2, Phijip(1), errflg)
CALL SYSFNC('PITCH', mkid, 2, Phijip(2), errflg)
CALL SYSFNC('YAW', mkid, 2, Phijip(3), errflg)
Phijip(1)=Phijip(1)*PI/180.0d0
Phijip(2)=Phijip(2)*PI/180.0d0
Phijip(3)=Phijip(3)*PI/180.0d0
mkid(1) = ActionMarker
CALL SYSARY('RDISP', mkid, 1, ea313, 3, errflg)
CALL ORIENTATIONMATRIX(313, ea313, A, err)
DO i= 1, 3
fp(i) = -djip(i)*TK-vjip(i)*TC
fp(i+3) = Phijip(i)*RK-wjip(i)*RC
ENDDO
IF(ifTXActive .EQ. 0) fp(1) = 0.0d0
IF(ifTYActive .EQ. 0) fp(2) = 0.0d0
IF(ifTZActive .EQ. 0) fp(3) = 0.0d0
IF(ifRXActive .EQ. 0) fp(4) = 0.0d0
IF(ifRYActive .EQ. 0) fp(5) = 0.0d0
IF(ifRZActive .EQ. 0) fp(6) = 0.0d0
call ASP(result, A, fp)
call ASP(result(4), A, fp(4))
10 RETURN
END
SUBROUTINE ASP(s, A, sp)
DOUBLE PRECISION s(3), A(9), sp(3)
s(1) = A(1)*sp(1)+A(4)*sp(2)+A(7)*sp(3);
s(2) = A(2)*sp(1)+A(5)*sp(2)+A(8)*sp(3);
s(3) = A(3)*sp(1)+A(6)*sp(2)+A(9)*sp(3);
RETURN
END
#include "stdafx.h"
#include "DllFunc.h"
#include "stdio.h"
#include <math.h>
void asp(double s[], double A[], double sp[])
{
s[0] = A[0]*sp[0]+A[3]*sp[1]+A[6]*sp[2];
s[1] = A[1]*sp[0]+A[4]*sp[1]+A[7]*sp[2];
s[2] = A[2]*sp[0]+A[5]*sp[1]+A[8]*sp[2];
}
NodalForce_API void __cdecl nodal_force
(int id, double time, double upar[], int npar, double pos[12], double vel[6], int jflag, int iflag, double result[6])
{
using namespace rd_syscall;
// Parameter Information
// id : Nodal Force sequential identification. (Input)
// time : Simulation time of RD/Solver. (Input)
// upar : Parameters defined by user. (Input)
// npar : Number of user parameters. (Input)
// pos : Nodal position w.r.t. Inertia REF. (Input)
// vel : Nodal velocity w.r.t. Inertia REF. (Input)
// jflag : When RD/Solver evaluates a Jacobian, the flag is true. (Input)
// iflag : When RD/Solver initializes arrays, the flag is true. (Input)
// result : Returned nodal force vector. (Input, Size : 6)
// User Statement
int ActionMarker, BaseMarker;
int ifTXActive,ifTYActive,ifTZActive;
int ifRXActive,ifRYActive,ifRZActive;
int nfid,ifbody,nodeseq,nodeid,errflg;
int mkid[3];
double djip[3],vjip[3];
double Phijip[3],wjip[3],fp[6];
double A[9], ea313[3];
double TK, TC, RK, RC;
char msg[256];
double PI;
PI = acos(-1.0);
if(npar<6) {
errmes(1000,"Number of the input parameter must be 6",id,"NodalForceUSUB");
return;
}
ActionMarker = (int)upar[0];
BaseMarker = (int)upar[1];
TK = upar[2];
TC = upar[3];
RK = upar[4];
RC = upar[5];
if (npar < 12) {
ifTXActive = 1;
ifTYActive = 1;
ifTZActive = 1;
ifRXActive = 1;
ifRYActive = 1;
ifRZActive = 0;
}
else {
ifTXActive = (int)upar[6];
ifTYActive = (int)upar[7];
ifTZActive = (int)upar[8];
ifRXActive = (int)upar[9];
ifRYActive = (int)upar[10];
ifRZActive = (int)upar[11];
}
nfid = 0;
ifbody = 0;
nodeseq = 0;
nodeid = 0;
errflg = 0;
get_nforce_addarg(&nfid,&ifbody,&nodeseq,&nodeid,&errflg);
if(iflag)
{
sprintf(msg, "Nodal Force Seq = %d", nfid);
printmsg(msg, strlen(msg));
sprintf(msg, "FFlex Body Seq = %d", ifbody);
printmsg(msg,strlen(msg));
sprintf(msg, "Current Node Seq = %d", nodeseq);
printmsg(msg, strlen(msg));
sprintf(msg, "Current Node ID = %d", nodeid);
printmsg(msg,strlen(msg));
}
mkid[0] = ActionMarker;
mkid[1] = BaseMarker;
mkid[2] = ActionMarker;
sysary("TDISP", mkid, 3, djip, 3, &errflg);
sysary("TVEL", mkid, 3, vjip, 3, &errflg);
sysary("RVEL", mkid, 3, wjip, 3, &errflg);
mkid[0] = BaseMarker;
mkid[1] = ActionMarker;
sysfnc("ROLL", mkid, 2, &Phijip[0], &errflg);
sysfnc("PITCH", mkid, 2, &Phijip[1], &errflg);
sysfnc("YAW", mkid, 2, &Phijip[2], &errflg);
Phijip[0]=Phijip[0]/180.0*PI;
Phijip[1]=Phijip[1]/180.0*PI;
Phijip[2]=Phijip[2]/180.0*PI;
mkid[0] = ActionMarker;
sysary("RDISP", mkid, 1, ea313, 3, &errflg);
orientationmatrix(313, ea313, A, &errflg);
for(int i = 0; i < 3; i++){
fp[i] = -djip[i]*TK-vjip[i]*TC;
fp[3+i] = Phijip[i]*RK-wjip[i]*RC;
}
if(ifTXActive == 0) fp[0] = 0.0;
if(ifTYActive == 0) fp[1] = 0.0;
if(ifTZActive == 0) fp[2] = 0.0;
if(ifRXActive == 0) fp[3] = 0.0;
if(ifRYActive == 0) fp[4] = 0.0;
if(ifRZActive == 0) fp[5] = 0.0;
asp(result, A, fp);
asp(&result[3], A, &fp[3]);
}